Acquisition of obstacle avoidance behaviors for a quadruped robot using visual and ultrasonic sensors

Kiyotaka Izumi, Keigo Watanabe, Msaaki Shindo, Ryoichi Sato

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

In this paper, an obstacle avoidance method is described for a quadruped walking robot by using camera image and ultrasonic sensors. A single camera is used to acquire the rough information of three-dimensional obstacle, while some ultrasonic sensors are used to obtain the accurate information of the obstacle, Thus, the obstacle is efficiently measured by combining these sensors properly. The effectiveness of the proposed method is verified for several experiments, in which TITAN-VIII is adopted as an experimental setup. The quadruped robot can arrives at the target with repeat of these actions, The effectiveness of the presented method is verified through some experiments.

Original languageEnglish
Title of host publication9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06
DOIs
Publication statusPublished - Dec 1 2006
Externally publishedYes
Event9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06 - Singapore, Singapore
Duration: Dec 5 2006Dec 8 2006

Publication series

Name9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06

Other

Other9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06
CountrySingapore
CitySingapore
Period12/5/0612/8/06

Keywords

  • Behavior selection
  • Obstacle avoidance
  • Quadruped robot
  • Sensor fusion

ASJC Scopus subject areas

  • Computer Science Applications
  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering

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  • Cite this

    Izumi, K., Watanabe, K., Shindo, M., & Sato, R. (2006). Acquisition of obstacle avoidance behaviors for a quadruped robot using visual and ultrasonic sensors. In 9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06 [4150420] (9th International Conference on Control, Automation, Robotics and Vision, 2006, ICARCV '06). https://doi.org/10.1109/ICARCV.2006.345078